OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation
Can Cui, Pengxiang Ding, Wenxuan Song, Shuanghao Bai, Xinyang Tong, Ge, Zirui, Runze Suo, Wanqi Zhou, Yang Liu, Jia, Bofang, Han Zhao, Siteng Huang, Donglin Wang · arXiv (Cornell University) · 2025
Dual-system VLA (Vision-Language-Action) architectures have become a hot topic in embodied intelligence research, but there is a lack of sufficient open-source work for further performance analysis and optimization. To address this problem, this paper will summarize and compare the structural designs of existing dual-system architectures, and conduct systematic empirical evaluations on the core design elements of existing dual-system architectures. Ultimately, it will provide a low-cost open-source model for further exploration. Of course, this project will continue to update with more experimental conclusions and open-source models with improved performance for everyone to choose from. Project page: https://openhelix-robot.github.io/.